{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:F67G5TJAB5OEYCG55VVWUUKCSU","short_pith_number":"pith:F67G5TJA","canonical_record":{"source":{"id":"2407.09812","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-07-13T09:15:55Z","cross_cats_sorted":[],"title_canon_sha256":"afd1302967254b4a0d525c891011e3f102ecb8beea3465c9ed906c2f1f94cd63","abstract_canon_sha256":"fab5b4a40a9b89b57fd393ceb6b7b27be02eb90afec8c2fc9332dc5273de2ea0"},"schema_version":"1.0"},"canonical_sha256":"2fbe6ecd200f5c4c08dded6b6a514295014e9c78aa17906d0995e654042bc268","source":{"kind":"arxiv","id":"2407.09812","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2407.09812","created_at":"2026-07-05T08:43:35Z"},{"alias_kind":"arxiv_version","alias_value":"2407.09812v1","created_at":"2026-07-05T08:43:35Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2407.09812","created_at":"2026-07-05T08:43:35Z"},{"alias_kind":"pith_short_12","alias_value":"F67G5TJAB5OE","created_at":"2026-07-05T08:43:35Z"},{"alias_kind":"pith_short_16","alias_value":"F67G5TJAB5OEYCG5","created_at":"2026-07-05T08:43:35Z"},{"alias_kind":"pith_short_8","alias_value":"F67G5TJA","created_at":"2026-07-05T08:43:35Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:F67G5TJAB5OEYCG55VVWUUKCSU","target":"record","payload":{"canonical_record":{"source":{"id":"2407.09812","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-07-13T09:15:55Z","cross_cats_sorted":[],"title_canon_sha256":"afd1302967254b4a0d525c891011e3f102ecb8beea3465c9ed906c2f1f94cd63","abstract_canon_sha256":"fab5b4a40a9b89b57fd393ceb6b7b27be02eb90afec8c2fc9332dc5273de2ea0"},"schema_version":"1.0"},"canonical_sha256":"2fbe6ecd200f5c4c08dded6b6a514295014e9c78aa17906d0995e654042bc268","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T08:43:35.103475Z","signature_b64":"3LeMulARVh8WUzN8cp6P1IO5fUvWIsAX8nhAMa6WMZoQnrCXlOOfEnTXCQXFctZ1wV/9Va1c9P5ZL3fDJUzEAQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"2fbe6ecd200f5c4c08dded6b6a514295014e9c78aa17906d0995e654042bc268","last_reissued_at":"2026-07-05T08:43:35.103012Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T08:43:35.103012Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2407.09812","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T08:43:35Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"V+T02xggPxTo88sapKM/XgtK/z3+1PY8RUQCTeODTqnHekSlBb6b7rh7lUaaWFDWJqN/lvCEaLxvGrqLiN3CBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-03T17:06:48.314265Z"},"content_sha256":"8d862f1e84bf39ee8b3323eb2dcd8f4a93327e0763f8496afbdbf054c8d5cc90","schema_version":"1.0","event_id":"sha256:8d862f1e84bf39ee8b3323eb2dcd8f4a93327e0763f8496afbdbf054c8d5cc90"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:F67G5TJAB5OEYCG55VVWUUKCSU","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Model Predictive Path Integral Control for Agile Unmanned Aerial Vehicles","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Martin Saska, Michal Minarik, Robert Penicka, Vojtech Vonasek","submitted_at":"2024-07-13T09:15:55Z","abstract_excerpt":"This paper introduces a control architecture for real-time and onboard control of Unmanned Aerial Vehicles (UAVs) in environments with obstacles using the Model Predictive Path Integral (MPPI) methodology. MPPI allows the use of the full nonlinear model of UAV dynamics and a more general cost function at the cost of a high computational demand. To run the controller in real-time, the sampling-based optimization is performed in parallel on a graphics processing unit onboard the UAV. We propose an approach to the simulation of the nonlinear system which respects low-level constraints, while also"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2407.09812","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2407.09812/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T08:43:35Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"NXZWBo1p1s30zFB0QnIoxDdBF5xr+15LLSnbvJYRrzq1N8d8DFcSYaWkyvYvj7/Qi2x8d94G0F+cxcY20tdxDw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-03T17:06:48.315230Z"},"content_sha256":"a949846ae5d754cd1621aa2d8d9a358a8d0974bd8b748c44aab6a892c8a4970b","schema_version":"1.0","event_id":"sha256:a949846ae5d754cd1621aa2d8d9a358a8d0974bd8b748c44aab6a892c8a4970b"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/F67G5TJAB5OEYCG55VVWUUKCSU/bundle.json","state_url":"https://pith.science/pith/F67G5TJAB5OEYCG55VVWUUKCSU/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/F67G5TJAB5OEYCG55VVWUUKCSU/bundle.json","status":"primary"}],"public_keys":[{"key_id":"pith-v1-2026-05","algorithm":"ed25519","format":"raw","public_key_b64":"stVStoiQhXFxp4s2pdzPNoqVNBMojDU/fJ2db5S3CbM=","public_key_hex":"b2d552b68890857171a78b36a5dccf368a953413288c353f7c9d9d6f94b709b3","fingerprint_sha256_b32_first128bits":"RVFV5Z2OI2J3ZUO7ERDEBCYNKS","fingerprint_sha256_hex":"8d4b5ee74e4693bcd1df2446408b0d54","rotates_at":null,"url":"https://pith.science/pith-signing-key.json","notes":"Pith uses this Ed25519 key to sign canonical record SHA-256 digests. Verify with: ed25519_verify(public_key, message=canonical_sha256_bytes, signature=base64decode(signature_b64))."}],"merge_version":"pith-open-graph-merge-v1","built_at":"2026-08-03T17:06:48Z","links":{"resolver":"https://pith.science/pith/F67G5TJAB5OEYCG55VVWUUKCSU","bundle":"https://pith.science/pith/F67G5TJAB5OEYCG55VVWUUKCSU/bundle.json","state":"https://pith.science/pith/F67G5TJAB5OEYCG55VVWUUKCSU/state.json","well_known_bundle":"https://pith.science/.well-known/pith/F67G5TJAB5OEYCG55VVWUUKCSU/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:F67G5TJAB5OEYCG55VVWUUKCSU","merge_version":"pith-open-graph-merge-v1","event_count":2,"valid_event_count":2,"invalid_event_count":0,"equivocation_count":0,"current":{"canonical_record":{"metadata":{"abstract_canon_sha256":"fab5b4a40a9b89b57fd393ceb6b7b27be02eb90afec8c2fc9332dc5273de2ea0","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-07-13T09:15:55Z","title_canon_sha256":"afd1302967254b4a0d525c891011e3f102ecb8beea3465c9ed906c2f1f94cd63"},"schema_version":"1.0","source":{"id":"2407.09812","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2407.09812","created_at":"2026-07-05T08:43:35Z"},{"alias_kind":"arxiv_version","alias_value":"2407.09812v1","created_at":"2026-07-05T08:43:35Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2407.09812","created_at":"2026-07-05T08:43:35Z"},{"alias_kind":"pith_short_12","alias_value":"F67G5TJAB5OE","created_at":"2026-07-05T08:43:35Z"},{"alias_kind":"pith_short_16","alias_value":"F67G5TJAB5OEYCG5","created_at":"2026-07-05T08:43:35Z"},{"alias_kind":"pith_short_8","alias_value":"F67G5TJA","created_at":"2026-07-05T08:43:35Z"}],"graph_snapshots":[{"event_id":"sha256:a949846ae5d754cd1621aa2d8d9a358a8d0974bd8b748c44aab6a892c8a4970b","target":"graph","created_at":"2026-07-05T08:43:35Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"graph_snapshot":{"author_claims":{"count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","strong_count":0},"builder_version":"pith-number-builder-2026-05-17-v1","claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"integrity":{"available":true,"clean":true,"detectors_run":[],"endpoint":"/pith/2407.09812/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"This paper introduces a control architecture for real-time and onboard control of Unmanned Aerial Vehicles (UAVs) in environments with obstacles using the Model Predictive Path Integral (MPPI) methodology. MPPI allows the use of the full nonlinear model of UAV dynamics and a more general cost function at the cost of a high computational demand. To run the controller in real-time, the sampling-based optimization is performed in parallel on a graphics processing unit onboard the UAV. We propose an approach to the simulation of the nonlinear system which respects low-level constraints, while also","authors_text":"Martin Saska, Michal Minarik, Robert Penicka, Vojtech Vonasek","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-07-13T09:15:55Z","title":"Model Predictive Path Integral Control for Agile Unmanned Aerial Vehicles"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2407.09812","kind":"arxiv","version":1},"verdict":{"created_at":null,"id":null,"model_set":{},"one_line_summary":"","pipeline_version":null,"pith_extraction_headline":"","strongest_claim":"","weakest_assumption":""}},"verdict_id":null}}],"author_attestations":[],"timestamp_anchors":[],"storage_attestations":[],"citation_signatures":[],"replication_records":[],"corrections":[],"mirror_hints":[],"record_created":{"event_id":"sha256:8d862f1e84bf39ee8b3323eb2dcd8f4a93327e0763f8496afbdbf054c8d5cc90","target":"record","created_at":"2026-07-05T08:43:35Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"attestation_state":"computed","canonical_record":{"metadata":{"abstract_canon_sha256":"fab5b4a40a9b89b57fd393ceb6b7b27be02eb90afec8c2fc9332dc5273de2ea0","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-07-13T09:15:55Z","title_canon_sha256":"afd1302967254b4a0d525c891011e3f102ecb8beea3465c9ed906c2f1f94cd63"},"schema_version":"1.0","source":{"id":"2407.09812","kind":"arxiv","version":1}},"canonical_sha256":"2fbe6ecd200f5c4c08dded6b6a514295014e9c78aa17906d0995e654042bc268","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"2fbe6ecd200f5c4c08dded6b6a514295014e9c78aa17906d0995e654042bc268","first_computed_at":"2026-07-05T08:43:35.103012Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T08:43:35.103012Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"3LeMulARVh8WUzN8cp6P1IO5fUvWIsAX8nhAMa6WMZoQnrCXlOOfEnTXCQXFctZ1wV/9Va1c9P5ZL3fDJUzEAQ==","signature_status":"signed_v1","signed_at":"2026-07-05T08:43:35.103475Z","signed_message":"canonical_sha256_bytes"},"source_id":"2407.09812","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:8d862f1e84bf39ee8b3323eb2dcd8f4a93327e0763f8496afbdbf054c8d5cc90","sha256:a949846ae5d754cd1621aa2d8d9a358a8d0974bd8b748c44aab6a892c8a4970b"],"state_sha256":"93e04993a7b971f0b9395cd1ecee58fbe5ee242d2fb6b0f0238388630b6cecb3"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"MCUgfJET08DF1H2uAMdhNlrGYnXY9GHQ5b4Md3GJopbMDXLlViI2S/YdGjtR7O4sG/kxeamskf98Vhuz96/fBQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-03T17:06:48.320663Z","bundle_sha256":"80302be4b1fc6c4370329e67d1aaa3ae795f9d4d0cbfb3c296a7753dce6f21ec"}}